基于初始点Hough变换公园绿篱修剪机器人自动化导航研究

Research on park hedge trimming robot automatic navigation based on initial point Hough transform

针对车载绿篱修剪机难以在公园道路自动行走的问题,在视觉系统的基础上,提出一种初始点Hough变换算法,可用于指导小型车辆在公园道路的自动化导航,从而实现公园绿篱修剪的机械化和智能化。算法主要包括五部分:目标区域的截取、HSI彩色空间的转换、S分量图的二值化及形态学处理、导航点的求取与导航线的拟合。为了减少图像的计算量和干扰,只截取拍摄图像的部分区域作为目标区域;为了减少光照不均匀的影响,将RGB图像转换为HSI图像,并提取S分量图作为研究对象;采用Otsu法二值化S分量图,并采用形态学处理填充二值图像的孔洞;针对传统的Hough变换计算量大的缺点,提出一种初始点Hough变换拟合导航路径。试验结果表明,该文提出的初始点Hough变换具有较高的精确性、实时性的优点。

In allusion to the problem that the hedge trimmer is difficult to automatically walk on the park road,an initial point Hough transform algorithm is proposed based on the visual system,which can be used to guide the automatic navigation of small vehicles on park roads,so as to realize the mechanization and intelligence of the park hedge trimming.This algorithm mainly includes five parts:the interception of target area,the transformation of the HSI color space,the binarization and morphological processing of the S component image,the extraction of navigation points and the fitting of navigation paths.Only part of the image is intercepted as the target area to reduce the amount of calculation and interference,the RGB image is converted into the HSI image,and the S component image is extracted as the research object to reduce the effect of uneven lighting.The Otsu method is used to binarize the S component image,and the hole of binary image is filled by morphological processing.As the traditional Hough transform has a large amount of computation,an initial point Hough transform is proposed to fit the navigation path.The experimental results show that the initial point Hough transform proposed in this paper has the advantages of high accuracy and real⁃time.